feat(video re-encoding): Adding utility and dataset edition tool for video re-encoding (#3611)

* feat(utility): adding video re-encode utility

* feat(edit): adding a new lerobot-edit-dataset tool to re-encode all the videos of a dataset

* chore(format): formatting code

* chore(review): fix Claude reviews

* test(reencode dataset): adding missing test for reencode dataset

src/lerobot/scripts/lerobot_edit_dataset.py

@@ -178,6 +178,31 @@ Recompute stats for relative actions and push to hub:
         --operation.num_workers 4 \
         --push_to_hub true
 
+Re-encode all videos in a dataset (saves to lerobot/pusht_reencoded by default):
+    lerobot-edit-dataset \
+        --repo_id lerobot/pusht \
+        --operation.type reencode_videos \
+        --operation.camera_encoder.vcodec h264 \
+        --operation.camera_encoder.pix_fmt yuv420p \
+        --operation.camera_encoder.crf 23
+
+Re-encode videos into a new dataset using 4 parallel processes:
+    lerobot-edit-dataset \
+        --repo_id lerobot/pusht \
+        --new_repo_id lerobot/pusht_h264 \
+        --operation.type reencode_videos \
+        --operation.camera_encoder.vcodec h264 \
+        --operation.camera_encoder.crf 23 \
+        --operation.num_workers 4
+
+Re-encode videos in-place (overwrites original dataset):
+    lerobot-edit-dataset \
+        --repo_id lerobot/pusht \
+        --new_repo_id lerobot/pusht \
+        --operation.type reencode_videos \
+        --operation.camera_encoder.vcodec h264 \
+        --operation.overwrite true
+
 Using JSON config file:
     lerobot-edit-dataset \
         --config_path path/to/edit_config.json
@@ -200,6 +225,7 @@ from lerobot.datasets import (
     merge_datasets,
     modify_tasks,
     recompute_stats,
+    reencode_dataset,
     remove_feature,
     split_dataset,
 )
@@ -268,6 +294,15 @@ class RecomputeStatsConfig(OperationConfig):
     overwrite: bool = False
 
 
+@OperationConfig.register_subclass("reencode_videos")
+@dataclass
+class ReencodeVideosConfig(OperationConfig):
+    camera_encoder: VideoEncoderConfig = field(default_factory=camera_encoder_defaults)
+    num_workers: int = 0
+    encoder_threads: int | None = None
+    overwrite: bool = False
+
+
 @OperationConfig.register_subclass("info")
 @dataclass
 class InfoConfig(OperationConfig):
@@ -634,6 +669,58 @@ def handle_recompute_stats(cfg: EditDatasetConfig) -> None:
         dataset.push_to_hub()
 
 
+def handle_reencode_videos(cfg: EditDatasetConfig) -> None:
+    if not isinstance(cfg.operation, ReencodeVideosConfig):
+        raise ValueError("Operation config must be ReencodeVideosConfig")
+
+    output_repo_id, input_root, output_root = _resolve_io_paths(
+        cfg.repo_id,
+        cfg.new_repo_id,
+        cfg.root,
+        cfg.new_root,
+        default_new_repo_id=f"{cfg.repo_id}_reencoded",
+    )
+    in_place = output_root == input_root
+
+    if in_place and not cfg.operation.overwrite:
+        raise ValueError(
+            f"reencode_videos would overwrite the dataset in-place at {input_root}. "
+            "Pass --operation.overwrite true to allow in-place modification, "
+            "or use --new_repo_id / --new_root to write to a different location. "
+            f"Default output repo_id when neither is set: '{cfg.repo_id}_reencoded'."
+        )
+
+    if in_place:
+        logging.warning(
+            f"Overwriting dataset videos in-place at {input_root}. The original videos will be lost."
+        )
+        dataset = LeRobotDataset(cfg.repo_id, root=input_root)
+    else:
+        logging.info(f"Copying dataset from {input_root} to {output_root}")
+        if output_root.exists():
+            backup_path = output_root.with_name(output_root.name + "_old")
+            logging.warning(f"Output directory {output_root} already exists. Moving to {backup_path}")
+            if backup_path.exists():
+                shutil.rmtree(backup_path)
+            shutil.move(output_root, backup_path)
+        shutil.copytree(input_root, output_root)
+        dataset = LeRobotDataset(output_repo_id, root=output_root)
+
+    logging.info(f"Re-encoding videos in {output_repo_id} with {cfg.operation.camera_encoder}")
+    reencode_dataset(
+        dataset,
+        camera_encoder=cfg.operation.camera_encoder,
+        encoder_threads=cfg.operation.encoder_threads,
+        num_workers=cfg.operation.num_workers,
+    )
+
+    logging.info(f"All videos re-encoded at {dataset.root}")
+
+    if cfg.push_to_hub:
+        logging.info(f"Pushing to hub as {output_repo_id}...")
+        dataset.push_to_hub()
+
+
 def _get_dataset_size(repo_path):
     import os
 
@@ -707,6 +794,8 @@ def edit_dataset(cfg: EditDatasetConfig) -> None:
         handle_convert_image_to_video(cfg)
     elif operation_type == "recompute_stats":
         handle_recompute_stats(cfg)
+    elif operation_type == "reencode_videos":
+        handle_reencode_videos(cfg)
     elif operation_type == "info":
         handle_info(cfg)
     else: